Ship's Trajectory Planning for Collision Avoidance at Sea Based on Ant Colony Optimisation
نویسندگان
چکیده
منابع مشابه
Ant Colony Optimisation for Planning Safe Escape Routes
An emergency requiring evacuation is a chaotic event filled with uncertainties both for the people affected and rescuers. The evacuees are often left to themselves for navigation to the escape area. The chaotic situation increases when a predefined escape route is blocked by a hazard, and there is a need to re-think which escape route is safest. This paper addresses automatically finding the sa...
متن کاملThe Study of Ship Collision Avoidance Route Planning by Ant Colony Algorithm
Maritime traffic is becoming more complex every day. At present, due to technological advances and to new maritime regulations, there is increasing demand for new nautical marine instruments to be installed into the bridge, and the breadth of navigational information complicates on-duty officers’ decisions. Therefore, if decision support tools can be used to help deal with navigational decision...
متن کاملNiching for Ant Colony Optimisation
Evolutionary Computation niching methods, such as Fitness Sharing and Crowding, are aimed at simultaneously locating and maintaining multiple optima to increase search robustness, typically in multi-modal function optimization. Such methods have been shown to be useful for both single and multiple objective optimisation problems. Niching methods have been adapted in recent years for other optim...
متن کاملOn-Line Collision-Avoidance Trajectory Planning of Two Planar Robots Based on Geometric Modeling
Superquadric modeling technology applied to the description of various shapes of robot links is discussed in the paper. Through a series of homogeneous transformations between the robots’ links, which have been modeled as a specified superquadric form, ellipse, the complexity of the collision detection problem can be reduced when evaluating the relative location between a transformed ellipse an...
متن کاملTrajectory Planning of Multiple Mobile Manipulators with Collision Avoidance Capability
This paper investigates multiple wheeled mobile manipulators coordinating with each other under a collision avoidance situation. In our previous work we derived kinematic and dynamic maniuplability measures for multiple mobile manipulators transporting a common object. Main objective of this paper is to extend the previous approach to a system consisting of two mobile manipulators carrying a co...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Journal of Navigation
سال: 2014
ISSN: 0373-4633,1469-7785
DOI: 10.1017/s0373463314000708